LiDAR is one of the most commonly utilised ToF sensors in AVs. Several previous works have shown how LiDAR can be vulnerable to spoofing attacks. In [1]}, remote attacks on LiDAR and camera-based sensing are explored wherein the authors show it is possible to confuse the field of vision of LiDAR using lasers to spoof the LiDAR sensors. In this work, Petit et al. show that it is possible to hide objects from the LiDAR sensor using these types of attacks. In [2]} Pham et al. implements a spoofing style attack against LiDAR systems. This attack is shown to be able to simulate the existence of an object in the field of view. The secondary layer vulnerabilities of LiDAR are discussed in [3]} where the LiDAR motion compensation is exploited to create an adversarial trajectory vector which in turn could cause collisions or otherwise alter the navigation of the AVs. In [4]}, adversarial sensor attacks against LiDAR are examined and demonstrated in two case studies, one instigated braking and another which forces the car to remain stationary both using LiDAR spoofing.
